Merge remote-tracking branch 'multiwii/master' into hott-telemetry
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commit
c012e7480f
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@ -168,6 +168,8 @@ const clivalue_t valueTable[] = {
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{ "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
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{ "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
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{ "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 0, 100 },
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{ "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 0, 100 },
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{ "yawrate", VAR_UINT8, &cfg.yawRate, 0, 100 },
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{ "yawrate", VAR_UINT8, &cfg.yawRate, 0, 100 },
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{ "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
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{ "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, 1000, 2000},
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{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
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{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
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{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
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{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
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{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
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{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
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@ -256,6 +256,7 @@ static void resetConf(void)
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cfg.rollPitchRate = 0;
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cfg.rollPitchRate = 0;
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cfg.yawRate = 0;
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cfg.yawRate = 0;
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cfg.dynThrPID = 0;
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cfg.dynThrPID = 0;
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cfg.tpaBreakPoint = 1500;
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cfg.thrMid8 = 50;
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cfg.thrMid8 = 50;
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cfg.thrExpo8 = 0;
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cfg.thrExpo8 = 0;
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// for (i = 0; i < CHECKBOXITEMS; i++)
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// for (i = 0; i < CHECKBOXITEMS; i++)
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6
src/mw.c
6
src/mw.c
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@ -83,8 +83,6 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
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}
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}
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}
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}
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#define BREAKPOINT 1500
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void annexCode(void)
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void annexCode(void)
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{
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{
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static uint32_t calibratedAccTime;
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static uint32_t calibratedAccTime;
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@ -101,11 +99,11 @@ void annexCode(void)
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int i;
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int i;
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// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
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// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
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if (rcData[THROTTLE] < BREAKPOINT) {
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if (rcData[THROTTLE] < cfg.tpaBreakPoint) {
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prop2 = 100;
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prop2 = 100;
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} else {
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} else {
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if (rcData[THROTTLE] < 2000) {
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if (rcData[THROTTLE] < 2000) {
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prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - BREAKPOINT) / (2000 - BREAKPOINT);
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prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpaBreakPoint) / (2000 - cfg.tpaBreakPoint);
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} else {
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} else {
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prop2 = 100 - cfg.dynThrPID;
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prop2 = 100 - cfg.dynThrPID;
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}
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}
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1
src/mw.h
1
src/mw.h
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@ -165,6 +165,7 @@ typedef struct config_t {
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uint8_t yawRate;
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uint8_t yawRate;
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uint8_t dynThrPID;
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uint8_t dynThrPID;
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uint16_t tpaBreakPoint; // Breakpoint where TPA is activated
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int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
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int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
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int16_t angleTrim[2]; // accelerometer trim
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int16_t angleTrim[2]; // accelerometer trim
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